Subsea tool changer

ABSTRACT

A subsea tool changer comprises a housing; a rotatable carousel rotatably mounted within the housing and adapted to receive a plurality of selectively removable tools; a tool changer that can select a predetermined one of the plurality of tools from the carousel; and a power drive adapted to provide a predetermined function to a tool selected by the tool changer, the power drive further comprising a first power drive interface. In typical use, a selectively removable tool is placed onto the rotatable carousel which is rotated so that a desired selectively removable tool is positioned adjacent to a tool driver which is then mated with the desired selectively removable tool. The tool changer and mated selected removable tool are moved outward toward an outer boundary of the housing and the tool changer extended at least partially outside the housing outward towards a predetermined tool working position. The tool changer is then pivoted to position the selected removable tool to its predetermined tool working position.

RELATION TO PRIOR APPLICATIONS

This application claims priority through United States Provisional Application 61/035,957 filed Mar. 12, 2008.

FIELD OF THE INVENTION

The disclosed tool changer allows deployment of multiple, selectable tools. More particularly, the disclosed tool changer allows deployment of multiple, selectable tools in a common housing where one or more of the multiple, selectable tools are selectable underwater such as by using a remotely operated vehicle (ROV) or autonomous underwater vehicle (AUV).

BACKGROUND OF THE INVENTION

ROVs and, at times, AUVs require tools when operating underwater, such as to work on pipelines, wellheads, and other structures while underwater. Most often, these tools are taken down or otherwise supplied one at a time, interactively, by returning the ROV or AUV to a surface location to allow manual exchange the tools.

However, in certain situations, once on site at a remote location (potentially under ice), an ROV or AUV may have to stay deployed underwater for a long time, e.g. up to six months or more, and operate without any maintenance or direct operator intervention. This means that there is no one to manually change out ROV tools as is the normal oilfield practice.

SUMMARY

The disclosed subsea tool changer allows multiple tools such as those usable by an ROV to be carried subsea to support multitasking of during ROV dives (missions). The tools share a common power/drive interface that allows different tools to be selected, acquired, positioned, operated, and stowed without having to make and break electrical or hydraulic connections.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a view in partial cutaway perspective of an exemplary embodiment of the subsea tool changer;

FIG. 2 is a view in partial cutaway perspective of a closeup of an exemplary embodiment a power drive illustrating exemplary latches in an extended position;

FIG. 3 is a view in partial cutaway perspective of a closeup of an exemplary embodiment a power drive illustrating exemplary latches in a retracted position; and

FIGS. 4-8 are views in partial cutaway perspective of an exemplary embodiment of the subsea tool changer illustrating a sequence of selecting a tool.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

Referring now to FIG. 1, subsea tool changer 1 comprises housing 10; carousel 20 rotatably mounted within housing 10 and adapted to receive a plurality of selectively removable tools 40; tool changer 30 adapted to select a predetermined one of the plurality of tools 40 from carousel 20; and power drive 45 adapted to provide a predetermined function to tool 40 that has been selected by tool changer 30, power drive 45 further comprising first power drive interface 46.

As will be understood by those of ordinary skill in these are, tool 40 may be a plurality of tools 40 with one or more the tools 40 being selectively removable.

Housing 10 is typically constructed of a material such as aluminum, glass reinforced plastic (GRP), or a plastic such as High Density Polyethylene (HDPE) or Ultra High Molecular Weight (UHMW) plastic. As illustrated in FIG. 1, housing 10 may be substantially rectangular and have at least one substantially open end, e.g. end 12, which allows for tool 40 to engage with a further device or otherwise be deployed outside housing 10. Housing 10 may be fully or partially enclosed.

Carousel 20 is typically constructed of a material such as aluminum, GRP, or a plastic such as HDPE or UHMW plastic In preferred embodiments, carousel 20 further comprises tool retainer 22 which is dimensioned and configured to selectively retain one of the selectively removable tools 40. Using tool retainer 22 allows insertion and retraction of tool 40 into and/or out from tool retainer 22.

Tool changer 30 is adapted to select a desired tool 40 from a storage place within housing 10. In a preferred embodiment, tools 40 are stored in tool retainers 22. In a preferred embodiment, tool changer 30 comprises selectively extendable arm 32.

Power drive 45 provides selection, acquisition, positioning, operating, or stowing functions, or the like, or a combination thereof. Power drive 45 is typically pivotably attached to tool changer 30 such as at pivot 31. First power drive interface 46 is typically pivotably attached to selectively extendable arm 32 proximate end 33 which is disposed proximate an outer boundary of carousel 30.

Each tool 40 may further comprise a common second power drive interface 47 which is dimensioned and configured to selectively and operatively mate with first power drive interface 46. Tools 40 will typically require electrical, hydraulic, or similar power, or a combination thereof. In a preferred embodiment, first power drive interface 46 operatively couples to second power drive interface 47 without having to make and break an electrical or hydraulic connection.

In preferred embodiments, one or more latches 48 (FIG. 2) is dimensioned and configured to secure a selected removable tool 40 to power drive 45 such as at first power interface 46. In preferred embodiments, latch 48 is selectively extendable and retractable (FIG. 3).

In alternative embodiments, referring still to FIG. 1, subsea tool changer 1 may comprise one or more onboard power sources 50 (not shown in the figures), one or more external power interfaces 52 (not shown in the figures), or a combination thereof. Power sources 50 are operatively in communication with power drive 46. External power interface 52 may be dimensioned and configured to interface with a power source from a remotely operated vehicle, an autonomously operated vehicle, or the like, or a combination thereof. In typical embodiments, external power interface 52 comprises electrical and/or hydraulic power interfaces or the like, or a combination thereof.

In the operation of exemplary embodiments, for subsea tool changer 1 as described above, a selectively removable tool 40 is positioned and secured onto carousel 30 which is rotatably disposed within housing 10.

Referring generally to FIGS. 4-8, tool changer 30 typically starts in the stowed position with tool changer 30 extended outward toward the front of housing 10 (FIGS. 4-5). Carousel 20 is rotated so that the desired tool 40 is at a first position adjacent to tool changer 30 and the desired tool 40 to be selected (FIG. 6).

In a preferred embodiment, tool changer 30 is retracted at least partially into housing 10 to allow it to engage the selected removable tool 40 with drive interface 45. For example, power drive 45 is positioned into a position to where its first power drive interface 46 is facing tool 40 to be acquired, e.g. pivoted backwards. Tool changer 30 is retracted inward toward carousel 20 and the tool 40 to be acquired such that first power drive interface 46 is mated to tool 40, e.g. into second power drive interface 47. In a typical method, the mating is via a rotary mechanical connection and tool 40 is securely latched to power drive 45, e.g. using latch 48. (FIG. 6)

Once mated, tool changer 30 is then extended outward towards an outer boundary of housing 10 to make room for power drive 45 and tool 40 to be pivoted to a forward working position. (FIG. 7) When power drive 45 and tool 40 are pivoted forward, tool 40 is ready for use. In this working position, tool changer 30 can be retracted or extended as necessary to facilitate use of tool 40. (FIG. 8)

When another tool 40 is desired, the sequence can be reversed to stow a previously selected tool 40 back into a storage place, e.g. a tool retainer 22, and then select the next tool 40.

The foregoing disclosure and description of the inventions are illustrative and explanatory. Various changes in the size, shape, and materials, as well as in the details of the illustrative construction and/or a illustrative method may be made without departing from the spirit of the invention. 

1. A subsea tool changer, comprising: a. a housing; b. a carousel rotatably mounted within the housing and adapted to receive a plurality of selectively removable tools; c. a tool changer adapted to select a predetermined one of the plurality of tools from the carousel; and d. a power drive adapted to provide a predetermined function to a tool selected by the tool changer, the power drive further comprising a first power drive interface.
 2. The changer of claim 1, wherein the plurality of tools comprise a common second power drive interface dimensioned and configured to selectively and operatively mate with the first power drive interface.
 3. The changer of claim 2, wherein the first power drive interface operatively couples to the second power drive interface without having to make and break an electrical or hydraulic connection.
 4. The changer of claim 3, wherein the predetermined function is at least one of selection, acquisition, positioning, operating, and stowing.
 5. The changer of claim 1, wherein the power drive is pivotably attached to the tool changer.
 6. The changer of claim 1, wherein the tool changer comprises a selectively extendable arm.
 7. The changer of claim 6, wherein the power drive interface is pivotably attached to the selectively extendable arm proximate an end of the selectively extendable arm disposed proximate an outer boundary of the carousel.
 8. The changer of claim 1, wherein the carousel further comprises a tool retainer dimensioned and configured to selectively retain a selectively removable tool and to permit insertion and retraction of the selectively removable tool from the tool retainer.
 9. The changer of claim 1, further comprising a latch dimensioned and configured to secure a selected removable tool to the power drive.
 10. The changer of claim 1, further comprising an external power interface operatively in communication with the power drive.
 11. The changer of claim 10, wherein the external power interface is dimensioned and configured to interface with a power source from at last one of a remotely operated vehicle and an autonomously operated vehicle.
 12. The changer of claim 11, wherein the external power interface is at least one of an electrical power interface and a hydraulic power interface.
 13. A method of providing a tool for subsea use, comprising: a. placing a selectively removable tool onto a carousel rotatably disposed within a housing; b. moving a selectively extendable tool changer disposed within the housing into a first position within the housing, the tool changer comprising a tool driver; c. rotating the carousel so that a desired selectively removable tool is positioned adjacent to the tool driver; d. mating the desired selectively removable tool with the tool driver; e. extending the tool changer and the mated selected removable tool outward toward an outer boundary of the housing; f. retracting the tool changer at least partially into the housing; g. engaging the selected removable tool with a drive interface; h. extending the tool changer at least partially outside the housing outward towards a predetermined tool working position; and i. pivoting the tool changer to position the selected removable tool to its predetermined tool working position.
 14. The method of claim 13, further comprising latching the engaged selected removable tool.
 15. The method of claim 14, further comprising: a. using a mechanically rotatable connector to connect to the desired tool; and b. securely latching the desired tool to the tool driver.
 16. The method of claim 13, wherein pivoting the tool changer to position the selected removable tool to its predetermined tool working position further comprises pivoting the tool driver to allow the selected removable tool to be positioned at least partially outside the housing.
 17. The method of claim 13, further comprising: a. pivoting the tool changer to position the selected removable tool to its stowable position; b. retracting the tool changer at least partially inside the housing outward towards a predetermined tool storage position; c. disengaging the selected removable tool from the drive interface; d. extending the tool changer at least partially out from the housing; e. retracting the tool changer and the mated selected removable tool inward toward an inner portion of the housing; f. disengaging the desired selectively removable tool from the tool driver; g. rotating the carousel so that the selected removable tool is positioned adjacent to a storage position; and h. stowing the tool into the storage position. 